CN115195824A - Calibration method, positioning method, device, electronic equipment and storage medium - Google Patents
Calibration method, positioning method, device, electronic equipment and storage medium Download PDFInfo
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- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
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Abstract
The invention provides a calibration method, a positioning device, electronic equipment and a storage medium, which are applied to magnetic suspension equipment, wherein the calibration method comprises the following steps: acquiring first information related to a running line of the magnetic levitation equipment and at least one set of positioning components deployed on the running line; determining positioning information corresponding to each group of positioning components in the at least one group of positioning components; calibrating the corresponding relation between the positioning information and the first information; the corresponding relation is used for positioning the running direction and/or mileage of the magnetic suspension equipment on the running route. By adopting the technical scheme of the embodiment of the invention, the corresponding relation is obtained by calibrating the positioning information corresponding to each group of positioning components in the at least one group of positioning components with the running direction and/or the mileage, so that the mileage of the train is accurately positioned.
Description
Technical Field
The invention relates to the field of train operation control, in particular to a calibration method, a positioning device, electronic equipment and a storage medium.
Background
In recent years, high speed magnetic levitation systems have gradually moved into the field of view of the public again. In the related technology, the task of developing high-speed magnetic levitation at the speed of 600 kilometers per hour and the important measure for constructing the comprehensive three-dimensional traffic network are all clear. Under the drive of national policy, domestic related organizations develop a great deal of technical research on the aspect of high-speed magnetic levitation. The field line engineering of the world's unique high-speed magnetic levitation commercial case-the Shanghai magnetic levitation machine adopts the normal-temperature normal-conduction magnetic levitation technology, and has been stably operated for nearly 20 years, so the normal-temperature normal-conduction magnetic levitation system becomes the main research object of localization and autonomy.
The field line of the Shanghai magnetic levitation machine belongs to the German introduction technology, and in view of the factors such as technical barriers, technical monopoly and the like, the middle part does not obtain the complete set of detailed data, so the corresponding scheme of the digital code of the high-speed magnetic levitation 'positioning mark plate' and the actual mileage is not known; on the other hand, according to the literature search of the "network of Chinese knowledge", the scheme research work of the corresponding conversion of the digital code and the actual mileage has not been carried out in China.
At present, in the field line engineering of the Shanghai maglev train, the train must acquire 3 sets of 'positioning mark plates' information, and each place sets up 3 'positioning mark plates', so that information such as train position, train direction of operation can be confirmed, the accurate positioning of the train can be realized, therefore, when the train starts, the train fault recovers the operation, longer time is consumed, and the train can be put into normal operation through more steps. The complicated operation flow is not beneficial to the passing rate of the line, reduces the operation efficiency of the line and is not beneficial to the construction and development of the long and large trunk magnetic levitation railway in China. However, no effective solution is available for this problem.
Disclosure of Invention
In view of the above, the present invention provides a calibration method, a positioning device, an electronic device and a storage medium.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the embodiment of the invention provides a calibration method, which is applied to magnetic suspension equipment, and comprises the following steps:
acquiring first information related to a running line of the magnetic levitation equipment and at least one set of positioning components deployed on the running line;
determining positioning information corresponding to each group of positioning components in the at least one group of positioning components;
calibrating the corresponding relation between the positioning information and the first information; the corresponding relation is used for positioning the running direction and/or mileage of the magnetic suspension equipment on the running route.
In the above scheme, the first information includes running direction information; the positioning information comprises directional positioning information, the method further comprising:
calibrating a first corresponding relation between the direction positioning information and the running direction information; the first corresponding relation is used for positioning the running direction of the magnetic suspension equipment on the running route.
In the above solution, the first information includes mileage information; the positioning information comprises mileage positioning information, the method further comprising:
calibrating a second corresponding relation between the mileage positioning information and the mileage information; the second corresponding relation is used for carrying out mileage positioning on the magnetic suspension equipment on the running route.
In the above scheme, the positioning information includes positioning coding information; the determining the positioning information corresponding to each positioning component in the at least one group of positioning components includes:
and determining the positioning coding information corresponding to each group of positioning components in the at least one group of positioning components.
In the above scheme, the positioning coding information includes m × n bit coding number;
the m represents the number of the positioning devices in each group of the positioning assemblies in the at least one group of the positioning assemblies, and the n represents the number of the coding bits of the coding information corresponding to each positioning device in the m positioning devices;
wherein m is a positive integer greater than or equal to 1; and n is a positive integer greater than or equal to 1.
In the above scheme, the direction positioning information includes direction coding information, and the direction coding information includes first coding information and second coding information;
wherein the first encoded information is different from the second encoded information.
In the above scheme, the operation direction information includes first direction information and second direction information; the method further comprises the following steps:
the first coding information and the second coding information correspond to the first direction information according to a first preset condition;
and corresponding the first coding information, the second coding information and the second direction information according to a second preset condition to obtain the first corresponding relation.
In the above solution, the mileage positioning information includes mileage coding information, and the method further includes:
determining a first encoding bit number of the mileage encoding information;
determining a first quantity of the positioning encoding information based on the first encoding number.
In the foregoing solution, the determining the positioning information corresponding to each positioning component in the at least one group of positioning components includes:
sequencing the first quantity of positioning coding information to obtain a first sequencing result;
and determining the positioning information corresponding to each group of positioning components based on the first sequencing result.
In the foregoing solution, the calibrating the second corresponding relationship between the mileage positioning information and the mileage information includes:
sequencing the mileage information to obtain a second sequencing result;
and determining the mileage information corresponding to the mileage positioning information according to the second sorting result to obtain the second corresponding relation.
The embodiment of the invention provides a positioning method applied to magnetic suspension equipment, which comprises the following steps:
acquiring positioning information corresponding to the magnetic suspension equipment passing through a first positioning assembly on a travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
searching a preset database according to the positioning information corresponding to the first positioning component to obtain the running direction and/or mileage information corresponding to the positioning information;
the preset database stores the corresponding relationship between the positioning information corresponding to each positioning component in at least one group of positioning components deployed on the driving route and the running direction and/or mileage information, and the corresponding relationship is obtained by calibration based on the method provided by the embodiment of the invention.
In the above scheme, the first information includes running direction information; the positioning information comprises directional positioning information, the method further comprising:
acquiring direction positioning information corresponding to the magnetic suspension equipment passing through a first positioning assembly on a travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
searching a first preset database according to the direction positioning information corresponding to the first positioning component to obtain running direction information corresponding to the positioning information;
the first preset database stores a first corresponding relation between direction positioning information corresponding to each positioning assembly in at least one group of positioning assemblies deployed on the driving route and running direction information, and the first corresponding relation is obtained by calibration based on the method provided by the embodiment of the invention.
In the above scheme, the first information includes mileage information; the positioning information comprises mileage positioning information, the method further comprising:
acquiring mileage positioning information corresponding to the magnetic suspension equipment passing through a first positioning assembly on a travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
searching a second preset database according to the mileage positioning information corresponding to the first positioning component to obtain mileage information corresponding to the positioning information;
the second preset database stores a second corresponding relationship between the mileage positioning information and the mileage information corresponding to each positioning component in at least one group of positioning components deployed on the driving route, and the second corresponding relationship is obtained by calibration based on the method provided by the embodiment of the invention.
An embodiment of the present invention provides a calibration apparatus, including:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring first information related to a running line of the magnetic levitation equipment and at least one group of positioning components arranged on the running line;
the first determining module is used for determining the positioning information corresponding to each group of positioning components in the at least one group of positioning components;
the first calibration module is used for calibrating the corresponding relation between the positioning information and the first information; the corresponding relation is used for positioning the running direction and/or mileage of the magnetic suspension equipment on the running route.
An embodiment of the present invention provides a positioning apparatus, including:
the second acquisition module is used for acquiring positioning information corresponding to the magnetic levitation equipment passing through the first positioning assembly on the travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
the first searching module is used for searching a preset database according to the positioning information corresponding to the first positioning module to obtain the running direction and/or mileage information corresponding to the positioning information;
the preset database stores the corresponding relationship between the positioning information corresponding to each positioning component in at least one group of positioning components deployed on the driving route and the running direction and/or mileage information, and the corresponding relationship is obtained by calibration based on the method provided by the embodiment of the invention.
An embodiment of the present invention provides an electronic device, which includes a memory and a processor, where the memory stores a computer program that can run on the processor, and when the processor executes the computer program, the electronic device implements a calibration method provided in an embodiment of the present invention or implements a positioning method provided in an embodiment of the present invention.
Embodiments of the present invention provide a storage medium, where the storage medium stores executable instructions, and when the executable instructions are executed by at least one processor, the calibration method provided in an embodiment of the present invention is implemented, or the positioning method provided in an embodiment of the present invention is implemented.
The invention provides a calibration method, a positioning device, electronic equipment and a storage medium, which are applied to magnetic suspension equipment, wherein the calibration method comprises the following steps: acquiring first information related to a running line of the magnetic levitation equipment and at least one set of positioning components deployed on the running line; determining positioning information corresponding to each group of positioning components in the at least one group of positioning components; calibrating the corresponding relation between the positioning information and the first information; the corresponding relation is used for positioning the running direction and/or mileage of the magnetic suspension equipment on the running route. By adopting the technical scheme of the embodiment of the invention, the corresponding relation is obtained by calibrating the positioning information corresponding to each group of positioning components in the at least one group of positioning components with the running direction and/or the mileage, so that the mileage of the train is accurately positioned.
Drawings
FIG. 1 is a schematic diagram of a magnetic levitation positioning system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a calibration method according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a positioning component in a calibration method according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a positioning device in a calibration method according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating positioning of the magnetic levitation apparatus in a calibration method according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a flow chart of a positioning method according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a calibration device according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail with reference to the accompanying drawings, the described embodiments should not be construed as limiting the present invention, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
In the related art, in order to ensure the safe operation of the high-speed magnetic levitation system, the precise positioning technology of the magnetic levitation system has been one of the key points of academic research. The normal-conduction high-speed maglev adopts a positioning mark plate as absolute position correction information of a train, takes a sea high-speed maglev system as an example, fig. 1 is a structural schematic diagram of a maglev positioning system in the related art of the embodiment of the invention, and as shown in fig. 1, the flow of acquiring absolute position information by the train through the positioning mark plate is as follows: the positioning mark plate is arranged beside the rail, the rest high-frequency signal generating circuit, the rest high-frequency signal transmitting coil, the rest high-frequency signal receiving coil and the rest high-frequency signal processing circuit are arranged on the train body, and the signals are output to the vehicle-mounted operation control system. Each block of 'positioning mark plate' represents 4-bit binary coding, and 3 blocks of 'positioning mark plates' are arranged at each position to form 12-bit binary coding. When the train passes through the positioning mark plate, a unique digital code can be obtained, the digital code corresponds to the specific mileage coordinate on the line, and the operation control system can determine the absolute position information of the current train.
Based on this, in various embodiments of the present invention, in the process of designing and installing the magnetic levitation device, each group of positioning assemblies in the at least one group of positioning assemblies is arranged in an increasing (or decreasing) manner according to the line direction, and the positioning information corresponding to each group of positioning assemblies in the at least one group of positioning assemblies is calibrated with the running direction and/or the mileage by a fine calibration method to obtain a corresponding relationship, so that the mileage of the train is accurately positioned.
An embodiment of the present invention provides a calibration method, and fig. 2 is a schematic flow chart illustrating an implementation process of the calibration method according to the embodiment of the present invention, and as shown in fig. 2, the method includes the following steps:
step 201: acquiring first information related to a running line of the magnetic levitation equipment and at least one set of positioning components deployed on the running line;
step 202: determining positioning information corresponding to each group of positioning components in the at least one group of positioning components;
step 203: calibrating the corresponding relation between the positioning information and the first information; the corresponding relation is used for positioning the running direction and/or mileage of the magnetic suspension equipment on the running route.
In step 201, the magnetic levitation device may be a device that controls movement by magnetic levitation force, and the magnetic levitation device may be limited according to actual situations, which is not limited herein. As an example, the maglev equipment may be a maglev train, which is a train driven by magnetic levitation force, and the train is levitated and guided contactlessly between the train and the track by electromagnetic force, and then the train is drawn to run by the electromagnetic force generated by the linear motor.
The number of the positioning assemblies of the at least one group of positioning assemblies may be limited according to actual situations, and is not limited herein. As an example, the travel route of the magnetic levitation equipment may be divided according to a preset mileage number to obtain a plurality of mileage intervals, each mileage interval corresponds to the positioning component, so as to determine the number of positioning components of the at least one group of positioning components according to the number of the mileage intervals, for example, the preset mileage number may be 200 meters, the travel route of the magnetic levitation equipment is divided according to every 200 meters to obtain a plurality of mileage intervals, each mileage interval corresponds to the positioning component, so as to determine the number of positioning components of the at least one group of positioning components according to the number of the mileage intervals.
In step 202, the positioning information corresponding to each of the at least one group of positioning assemblies is determined, the positioning information is determined according to the structure of each of the at least one group of positioning assemblies, and a positioning assembly according to any one structure can correspond to unique positioning information.
In step 203, the driving route may be a track route for driving vehicles, or may be a traffic route for the vehicle with its own power device to follow. As an example, the travel route may be a traffic route traveled by the magnetic levitation device in a track.
The first information can be information related to the running line of the magnetic levitation device generated in the process that the magnetic levitation device runs on the running line. The first information may be position information of the magnetic levitation device and running direction information of the magnetic levitation device, wherein the position information of the magnetic levitation device corresponds to mileage information of the driving route.
By adopting the technical scheme of the embodiment of the invention, the corresponding relation is obtained by calibrating the positioning information corresponding to each group of positioning components in the at least one group of positioning components with the running direction and/or the mileage, so that the mileage of the train is accurately positioned.
In an optional embodiment of the invention, the first information comprises direction of travel information; the positioning information comprises directional positioning information, the method further comprising:
calibrating a first corresponding relation between the direction positioning information and the running direction information; the first corresponding relation is used for positioning the running direction of the magnetic suspension equipment on the running route.
In this embodiment, the running direction information may be defined according to an actual situation, and is not limited herein. As an example, the running direction information may be an orientation direction of a train head of the magnetic levitation train during running. For example, the direction of the train head of the magnetic-levitation train facing to Beijing during operation and the direction of the train head of the magnetic-levitation train facing away from Beijing during operation.
In an optional embodiment of the invention, the first information comprises mileage information; the positioning information comprises mileage positioning information, the method further comprising:
calibrating a second corresponding relation between the mileage positioning information and the mileage information; the second corresponding relation is used for carrying out mileage positioning on the magnetic suspension equipment on the running route.
In this embodiment, the mileage information may be limited according to actual situations, and is not limited herein. As an example, the mileage information may be a specific mileage coordinate on a travel route of the magnetic levitation apparatus, and the mileage coordinate is used for determining the current absolute position information of the magnetic levitation apparatus.
In an optional embodiment of the present invention, the positioning information comprises positioning coding information; the determining the positioning information corresponding to each positioning component in the at least one group of positioning components includes:
and determining the positioning coding information corresponding to each group of positioning components in the at least one group of positioning components.
In this embodiment, the positioning encoded information may be information corresponding to binary encoding. The determining of the positioning code information corresponding to each group of positioning components in the at least one group of positioning components may be determining the positioning code information according to the structure of each group of positioning components in the at least one group of positioning components, and the positioning component according to any structure may correspond to unique positioning code information.
In an optional embodiment of the present invention, the positioning coding information comprises m × n bit coding bits;
the m represents the number of the positioning devices in each group of positioning assembly in the at least one group of positioning assembly, and the n represents the number of the coding bits of the coding information corresponding to each positioning device in the m positioning devices;
wherein m is a positive integer greater than or equal to 1; and n is a positive integer greater than or equal to 1.
In this embodiment, the positioning component may be a component capable of generating positioning information when the magnetic levitation apparatus passes through the positioning component, which is not limited herein, and as an example, the positioning component may be a positioning mark plate set. The positioning assembly may include a plurality of positioning devices, which may be, as one example, a positioning sign board.
For convenience of understanding, fig. 3 is a schematic structural diagram of a positioning component in a calibration method according to an embodiment of the present invention, fig. 4 is a schematic structural diagram of a positioning device in a calibration method according to an embodiment of the present invention, and the following description is made with reference to fig. 3 and fig. 4. The m pieces the place holder board can be 3 pieces the place holder board, n bit code number can be 4 bit encoding numbers, the place holder information includes that mxn bit code number can be the place holder information includes 3 × 4 bit encoding numbers.
The positioning code information may be determined according to a self structure of each of the at least one positioning marker plate group, and the positioning code information may be determined according to a self structure of each of the positioning marker plates in each of the at least one positioning marker plate groups. As an example, the positioning mark plate includes at least one positioning slot, a slot is disposed between two adjacent positioning slots in the at least one positioning slot, and the positioning coded information corresponding to the positioning mark plate is determined according to a width of the slot, for example, a first positioning slot in the at least one positioning slot is determined, a second positioning slot adjacent to the first positioning slot is determined, and a first slot is determined according to the first positioning slot and the second positioning slot, where the first positioning slot is any one of the at least one positioning slot; if the width of the first narrow slit is judged to be larger than a preset threshold value, determining that the coding information corresponding to the first narrow slit is 1; and if the width of the first narrow slit is judged to be smaller than the preset threshold value, determining that the coding information corresponding to the first narrow slit is 0. As shown in fig. 4, the coded information corresponding to the first narrow slit is 1, the coded information corresponding to the second narrow slit is 0, the coded information corresponding to the third narrow slit is 0, the coded information corresponding to the fourth narrow slit is 0, and the positioning coded information corresponding to the positioning mark plate is 1000.
In an optional embodiment of the present invention, the direction positioning information comprises direction coding information, the direction coding information comprises first coding information and second coding information;
wherein the first encoded information is different from the second encoded information.
In this embodiment, the direction encoding information may be a multi-bit encoding number of m × n-bit encoding numbers included in the positioning encoding information. The multi-bit encoding bits are collectively used to determine direction encoding information in the direction locating information. The first coding information may be coding information corresponding to a first multi-bit coding bit number in the multi-bit coding bits, the second coding information may be coding information corresponding to a second multi-bit coding bit number in the multi-bit coding bits, wherein, according to the bit numbers of the multi-bit coding bits will the multi-bit coding bits are equally divided to obtain the first multi-bit coding bit number and the second multi-bit coding bit number.
As an example, the multi-bit encoding bit number may be a two-bit encoding bit number, and the two-bit encoding bit number is equally divided by the bit number of the two-bit encoding bit number to obtain a first bit encoding bit number and a second bit encoding bit number. The first encoding information may be encoding information corresponding to a first one of the two encoding numbers, and the second encoding information may be encoding information corresponding to a second one of the two encoding numbers.
In a case where the plurality of coding bits are two coding bits, the first coding information may be coding information corresponding to an xth coding bit number of m × n coding bits included in the positioning coding information, and the second coding information may be coding information corresponding to an mxn-x + 1 coding bit number of the mxn coding bits included in the positioning coding information, where 1 ≦ x ≦ mxn/2, where [ mxn/2 ] represents a maximum positive integer not greater than mxn/2.
For convenience of understanding, fig. 5 is a schematic diagram illustrating positioning of the magnetic levitation device in the calibration method according to an embodiment of the present invention, and as shown in fig. 5, in a case that the number of the multi-bit encoding bits is two, and x =1, the first encoding information may be encoding information corresponding to the 1 st encoding bit number in the 3 × 4 encoding bits included in the positioning encoding information, and the second encoding information may be encoding information corresponding to the 12 th encoding bit number in the 3 × 4 encoding bits included in the positioning encoding information.
In an optional embodiment of the present invention, the operation direction information includes first direction information and second direction information; the method further comprises the following steps:
the first coding information and the second coding information correspond to the first direction information according to a first preset condition;
and corresponding the first coding information, the second coding information and the second direction information according to a second preset condition to obtain the first corresponding relation.
In this embodiment, the operation direction information including the first direction information and the second direction information may be limited according to an actual situation, and is not limited herein. As an example, the first direction information may indicate that the magnetic levitation device is in an uplink state; the second direction information can represent that the magnetic suspension device is in a descending state, the ascending state and the descending state are related to the establishment of the magnetic suspension device, the railway specifies that the direction entering the Jing is called ascending from the branch line to the trunk line, and conversely, the direction leaving the Jing is called descending from the trunk line to the branch line.
The first preset condition may be that the first encoded information and the second encoded information correspond to the first direction information in a case where the first encoded information is binary data 1 and the second encoded information is binary data 0. The second preset condition may be that, when the first encoded information is binary data 0 and the second encoded information is binary data 1, the first encoded information and the second encoded information are associated with the second direction information to obtain the first association relationship.
For convenience of understanding, the positioning assembly is illustrated here as corresponding to unique positioning code information, and the magnetic levitation device has different running directions when passing through the positioning assembly, so that the unique positioning information corresponding to the positioning assembly can generate different first positioning information and second positioning information. As shown in fig. 5, the unique positioning code information corresponding to the first positioning marker plate group is 1100 1010 0010, and under the condition that the running directions of the magnetic levitation equipment passing through the positioning assembly are different, the first positioning information and the second positioning information respectively generated by the unique positioning code information corresponding to the first positioning marker plate group are 1100 1010 0010 and 0100 0101 0011, respectively. Under the condition that the first positioning information is 1100 1010 0010, the first positioning information includes the direction coding information, the first coding information in the direction coding information is binary data 1, the second coding information is binary data 0, and the first coding information and the second coding information correspond to the first direction information according to a first preset condition. And under the condition that the second positioning information is 0100 0101 0011, the second positioning information includes the direction coding information, the first coding information in the direction coding information is binary data 0, the second coding information is binary data 1, and the first coding information and the second coding information are corresponding to the second direction information according to a second preset condition.
In an optional embodiment of the invention, the mileage positioning information includes mileage coding information, and the method further includes:
determining a first encoding number of the mileage encoding information;
determining a first quantity of the positioning encoding information based on the first encoding number.
In this embodiment, the mileage coding information may be coding information corresponding to a first coding bit number in m × n coding bit numbers included in the positioning coding information, when the magnetic levitation device passes through the positioning component, in the generated m × n binary coding bit information, the current running direction of the train can be known by using x-bit information and m × n-x + 1-bit information, and the remaining m × n-2 coding bit numbers correspond to the first coding bit number of the mileage coding information.
Determining the first amount of the positioning encoding information based on the first number of encoding bits may be determining 2 based on an mxn-2 bit encoding bit number m×n-2 A binary code, each code corresponding to a specific route distance, 2 m×n-2 A number of binary codes corresponds to a first number of the positioning code information.
For convenience of understanding, fig. 5 is a schematic diagram illustrating positioning of the magnetic levitation device in the calibration method according to an embodiment of the present invention, as shown in fig. 5, when the number of the multi-bit encoding bits is two, and x =1, the mileage encoding information may be encoding information corresponding to a first encoding bit number in 3 × 4 encoding bits included in the positioning encoding information, and in 3 × 4 binary encoding bit information generated when the magnetic levitation device passes through the positioning component, the current operation direction of the magnetic levitation device may be known by using the 1 st bit and the 12 th bit encoding information, and the remaining 10 th bit numbers correspond to the first encoding bit number of the mileage encoding information. Determining 2 based on 10-bit encoded bit number 10 A binary code, each codeCan correspond to a specific route mileage, 2 10 A number of binary codes corresponds to a first number of the positioning code information.
In an optional embodiment of the present invention, the determining the positioning information corresponding to each positioning component in the at least one group of positioning components includes:
sequencing the first quantity of positioning coding information to obtain a first sequencing result;
and determining the positioning information corresponding to each group of positioning components based on the first sequencing result.
In this embodiment, the obtaining of the first sorting result by sorting the first number of positioning encoded information may be that the first sorting result is obtained by sorting the first number of positioning encoded information in a manner that the size of the first number of positioning encoded information increases or decreases.
The determining, based on the first sequencing result, the positioning information corresponding to each group of positioning components may be that the positioning information corresponding to a first positioning component in the at least one group of positioning components is determined first, and then the positioning information corresponding to a second positioning component adjacent to the first positioning component is determined; wherein, the first positioning component is any one group of positioning components in the at least one group of positioning components. And sequentially corresponding each group of positioning components in the at least one group of positioning components to the positioning coding information which is sequenced in the first sequencing result, and determining the positioning information corresponding to each group of positioning components.
In an optional embodiment of the present invention, the calibrating the second corresponding relationship between the mileage positioning information and the mileage information includes:
sequencing the mileage information to obtain a second sequencing result;
and determining the mileage information corresponding to the mileage positioning information according to the second sorting result to obtain the second corresponding relation.
In this embodiment, the ranking of the mileage information to obtain the second ranking result may be that the mileage information is ranked to obtain the second ranking result in a manner that the mileage information is incremented or decremented according to a line direction.
The determining, based on the second sorting result, the mileage information corresponding to the mileage positioning information may be that, first, a correspondence between first mileage positioning information corresponding to a first mileage positioning component in the at least one group of positioning components and the mileage information is determined, and then, a correspondence between second mileage positioning information corresponding to a second mileage positioning component adjacent to the first positioning component and the mileage information is determined; the first mileage positioning information is mileage positioning information corresponding to any one group of positioning components in the at least one group of positioning components. And sequentially corresponding the mileage positioning information corresponding to each group of positioning components in the at least one group of positioning components with the mileage information sorted in the second sorting result, and determining the corresponding relationship between the mileage positioning information corresponding to each group of positioning components and the mileage information.
In the design and installation process, the mileage information bit data of each adjacent group of positioning marker plate groups are arranged in an increasing (or decreasing) mode according to the line direction, and the binary codes and the line data mileage are in one-to-one correspondence and link in the vehicle-mounted electronic map, so that the magnetic suspension equipment can continuously check the correctness of the data information in the operation process, also can determine the operation direction of the magnetic suspension equipment, and also can realize the accurate positioning of the magnetic suspension equipment.
The magnetic levitation equipment can continuously check the correctness of the data information in the operation process, namely, when the magnetic levitation equipment is judged to pass through any one of the at least one group of positioning assemblies, whether the obtained coding bit number is equal to the mxn coding bit number corresponding to the positioning assembly or not is judged, and under the condition that the obtained coding bit number is less than the mxn coding bit number corresponding to the positioning assembly, whether the data information has an error or not is determined, and whether a positioning mark plate in the positioning assembly is damaged or not needs to be checked.
Based on the above calibration method, an embodiment of the present invention further provides a positioning method, where the positioning method is applied to magnetic levitation equipment, fig. 6 is a schematic diagram of an implementation flow of the positioning method according to the embodiment of the present invention, and as shown in fig. 6, the positioning method includes:
step 601: acquiring positioning information corresponding to the magnetic suspension equipment passing through a first positioning assembly on a travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
step 602: searching a preset database according to the positioning information corresponding to the first positioning component to obtain the running direction and/or mileage information corresponding to the positioning information;
the preset database stores the corresponding relationship between the positioning information corresponding to each positioning component in at least one group of positioning components deployed on the driving route and the running direction and/or mileage information, and the corresponding relationship is obtained by calibration based on the method provided by the embodiment of the invention.
In step 601, in the running process of the magnetic levitation device, the magnetic levitation device passes through the at least one set of positioning assemblies on the running line, and positioning information corresponding to the magnetic levitation device passing through any one of the at least one set of positioning assemblies on the running line is obtained.
In step 602, during the running process of the magnetic levitation device, the magnetic levitation device passes through the positioning information corresponding to any one of the at least one set of positioning components on the running route, and directly determines the corresponding relationship between the positioning information corresponding to any one set of positioning components and the running direction and/or the mileage information by searching a preset database.
In an optional embodiment of the invention, the first information comprises direction of travel information; the positioning information comprises directional positioning information, the method further comprising:
acquiring direction positioning information corresponding to the magnetic suspension equipment passing through a first positioning assembly on a running line; the first positioning assembly is any one of the at least one group of positioning assemblies;
searching a first preset database according to the direction positioning information corresponding to the first positioning component to obtain running direction information corresponding to the positioning information;
the first preset database stores a first corresponding relation between direction positioning information corresponding to each positioning assembly in at least one group of positioning assemblies deployed on the driving route and running direction information, and the first corresponding relation is obtained by calibration based on the method provided by the embodiment of the invention.
In this embodiment, in a running process of the magnetic levitation device, the magnetic levitation device passes through the at least one group of positioning assemblies on a running line, and positioning information corresponding to the magnetic levitation device passing through any one group of positioning assemblies in the at least one group of positioning assemblies on the running line is obtained, where the positioning information includes the direction positioning information, the direction positioning information includes direction encoding information, and the direction encoding information includes first encoding information and second encoding information. And acquiring first coded information and second coded information which are included in the positioning information corresponding to the magnetic suspension equipment passing through any one group of positioning assemblies in the current running direction.
The searching of the first preset database according to the positioning information corresponding to the first positioning component may be to obtain the running direction information corresponding to the positioning information, and the searching of the first preset database according to the first encoded information and the second encoded information included in the positioning information corresponding to any one of the at least one set of positioning components in the current running direction of the magnetic levitation equipment may be to obtain the running direction information corresponding to the first encoded information and the second encoded information.
In an optional embodiment of the invention, the first information comprises mileage information; the positioning information comprises mileage positioning information, the method further comprising:
acquiring mileage positioning information corresponding to the magnetic suspension equipment passing through a first positioning component on a running line; the first positioning assembly is any one of the at least one group of positioning assemblies;
searching a second preset database according to the mileage positioning information corresponding to the first positioning component to obtain mileage information corresponding to the positioning information;
the second preset database stores a second corresponding relationship between the mileage positioning information and the mileage information corresponding to each positioning component in at least one group of positioning components deployed on the driving route, and the second corresponding relationship is obtained by calibration based on the method provided by the embodiment of the invention.
In this embodiment, in the running process of the magnetic levitation device, the magnetic levitation device passes through the at least one set of positioning assemblies on the running line, and the magnetic levitation device passes through positioning information corresponding to any one set of positioning assemblies in the at least one set of positioning assemblies on the running line, where the positioning information includes the mileage positioning information, and the mileage positioning information includes mileage coding information. And acquiring mileage coding information included in positioning information corresponding to the magnetic levitation equipment passing through any one group of positioning components in the at least one group of positioning components in the current running direction.
Searching a second preset database according to the positioning information corresponding to the first positioning component, wherein the obtaining of the running direction information corresponding to the positioning information may be that, according to the mileage coding information included in the positioning information corresponding to any one of the at least one group of positioning components in the current running direction of the magnetic levitation equipment, searching the second preset database to obtain the mileage information corresponding to the mileage coding information.
In order to implement the calibration method of the embodiment of the invention, the embodiment of the invention also provides a calibration device which is arranged on the electronic equipment. Fig. 7 is a schematic structural diagram of a calibration apparatus according to an embodiment of the present invention, and as shown in fig. 7, the calibration apparatus 700 includes:
a first obtaining module 701, configured to obtain first information related to a travel route of the magnetic levitation device and at least one set of positioning components deployed on the travel route;
a first determining module 702, configured to determine positioning information corresponding to each positioning component in the at least one group of positioning components;
a first calibration module 703, configured to calibrate a corresponding relationship between the positioning information and the first information; the corresponding relation is used for positioning the running direction and/or mileage of the magnetic suspension equipment on the running route.
In other embodiments, the first information includes travel direction information; the positioning information includes directional positioning information, and the calibration apparatus 700 further includes:
the direction calibration module is used for calibrating a first corresponding relation between the direction positioning information and the running direction information; the first corresponding relation is used for positioning the running direction of the magnetic suspension equipment on the running route.
In other embodiments, the first information includes mileage information; the positioning information includes mileage positioning information, and the calibration apparatus 700 further includes:
the mileage calibration module is used for calibrating a second corresponding relation between the mileage positioning information and the mileage information; and the second corresponding relation is used for carrying out mileage positioning on the magnetic suspension equipment on the driving route.
In other embodiments, the positioning information comprises positioning encoded information;
the first determining module 702 is further configured to determine positioning coding information corresponding to each positioning component in the at least one group of positioning components.
In other embodiments, the first determining module 702 is further configured to determine the positioning code information corresponding to each positioning component in the at least one group of positioning components; the positioning coding information comprises m × n bit coding bits; the m represents the number of the positioning devices in each group of the positioning assemblies in the at least one group of the positioning assemblies, and the n represents the number of the coding bits of the coding information corresponding to each positioning device in the m positioning devices; wherein m is a positive integer greater than or equal to 1; and n is a positive integer greater than or equal to 1.
In other embodiments, the direction calibration module is configured to calibrate a first corresponding relationship between the direction positioning information and the operation direction information; the direction positioning information comprises direction coding information which comprises first coding information and second coding information; wherein the first encoded information is different from the second encoded information.
In other embodiments, the operational direction information includes first direction information and second direction information; the calibration apparatus 700 further includes:
a corresponding module, configured to correspond the first encoded information and the second encoded information to the first direction information according to a first preset condition; and corresponding the first coding information, the second coding information and the second direction information according to a second preset condition to obtain the first corresponding relation.
In other embodiments, the mileage positioning information includes mileage coding information, and the calibration apparatus 700 further includes:
the second determining module is used for determining the first encoding bit number of the mileage encoding information;
a third determining module to determine a first quantity of the positioning encoded information based on the first number of encoding bits.
In other embodiments, the first determining module 702 is further configured to sort the first number of positioning encoded information to obtain a first sorting result; and determining the positioning information corresponding to each group of positioning components based on the first sequencing result.
In other embodiments, the mileage calibration module is further configured to rank the mileage information to obtain a second ranking result; and determining the mileage information corresponding to the mileage positioning information according to the second sorting result to obtain the second corresponding relation.
In order to implement the positioning method of the embodiment of the present invention, an embodiment of the present invention further provides a positioning device, which is disposed on an electronic device. Fig. 8 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention, and as shown in fig. 8, the positioning apparatus 800 includes:
a second obtaining module 801, configured to obtain positioning information corresponding to the magnetic levitation device passing through the first positioning component on the travel route; the first positioning assembly is any one of the at least one group of positioning assemblies;
a first searching module 802, configured to search a preset database according to the positioning information corresponding to the first positioning component, so as to obtain a running direction and/or mileage information corresponding to the positioning information; the preset database stores the corresponding relationship between the positioning information corresponding to each positioning component in at least one group of positioning components deployed on the driving route and the running direction and/or mileage information, and the corresponding relationship is obtained by calibration based on the method provided by the embodiment of the invention.
In other embodiments, the first information includes travel direction information; the positioning information includes directional positioning information, and the positioning apparatus 800 further includes:
the third acquisition module is used for acquiring direction positioning information corresponding to the magnetic levitation equipment passing through the first positioning assembly on the travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
the second searching module is used for searching a first preset database according to the direction positioning information corresponding to the first positioning module to obtain the running direction information corresponding to the positioning information; the first preset database stores a first corresponding relationship between direction positioning information and running direction information corresponding to each positioning assembly in at least one group of positioning assemblies deployed on the running route, and the first corresponding relationship is obtained by calibration based on the method.
In other embodiments, the first information includes mileage information; the positioning information includes mileage positioning information, and the positioning apparatus 800 further includes:
the fourth acquisition module is used for acquiring mileage positioning information corresponding to the magnetic suspension equipment passing through the first positioning assembly on the travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
the third searching module is used for searching a second preset database according to the mileage positioning information corresponding to the first positioning component to obtain mileage information corresponding to the positioning information; the second preset database stores a second corresponding relationship between the mileage positioning information and the mileage information corresponding to each positioning component in at least one group of positioning components deployed on the driving route, and the second corresponding relationship is obtained by calibration based on the method.
Based on the hardware implementation of the program modules, in order to implement the method according to the embodiment of the present invention, the embodiment of the present invention further provides an electronic device 900, where the electronic device 900 includes a memory 901 and a processor 902, the memory 901 stores a computer program that can be executed on the processor, and when the processor 902 executes the computer program, the calibration method according to the embodiment of the present invention is implemented, or the positioning method according to the embodiment of the present invention is implemented.
In practical applications, fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 9, various components in the electronic device 900 are coupled together through a bus system 903. It is understood that the bus system 903 is used to enable communications among the components. The bus system 903 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, however, the various buses are labeled as the bus system 903 in FIG. 9.
The embodiment of the present invention further provides a storage medium, where the storage medium stores executable instructions, and when the executable instructions are executed by at least one processor, the calibration method provided by the embodiment of the present invention is implemented, or the positioning method provided by the embodiment of the present invention is implemented.
In some embodiments, the storage medium may be a Memory such as a magnetic Random Access Memory (FRAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read-Only Memory (CD-ROM); or may be various devices including one or any combination of the above memories.
In some embodiments, executable instructions may be written in any form of programming language (including compiled or interpreted languages), in the form of programs, software modules, scripts or code, and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.
By way of example, executable instructions may, but need not, correspond to files in a file system, and may be stored in a portion of a file that holds other programs or data, such as in one or more scripts in a hypertext Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
By way of example, executable instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It should be noted that: "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In addition, the technical solutions described in the embodiments of the present invention may be arbitrarily combined without conflict.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (17)
1. A calibration method is characterized by being applied to magnetic suspension equipment, and comprises the following steps:
acquiring first information related to a running line of the magnetic levitation equipment and at least one set of positioning components deployed on the running line;
determining positioning information corresponding to each group of positioning components in the at least one group of positioning components;
calibrating the corresponding relation between the positioning information and the first information; the corresponding relation is used for positioning the running direction and/or mileage of the magnetic suspension equipment on the running route.
2. The method of claim 1, wherein the first information comprises travel direction information; the positioning information comprises directional positioning information, the method further comprising:
calibrating a first corresponding relation between the direction positioning information and the running direction information; the first corresponding relation is used for positioning the running direction of the magnetic suspension equipment on the running route.
3. The method of claim 1, wherein the first information comprises mileage information; the positioning information comprises mileage positioning information, the method further comprising:
calibrating a second corresponding relation between the mileage positioning information and the mileage information; and the second corresponding relation is used for carrying out mileage positioning on the magnetic suspension equipment on the driving route.
4. The method of claim 1, wherein the positioning information comprises positioning encoded information; the determining the positioning information corresponding to each positioning component in the at least one group of positioning components includes:
and determining the positioning coding information corresponding to each group of positioning components in the at least one group of positioning components.
5. The method of claim 4, wherein the positioning coding information comprises m x n bit coding numbers;
the m represents the number of the positioning devices in each group of the positioning assemblies in the at least one group of the positioning assemblies, and the n represents the number of the coding bits of the coding information corresponding to each positioning device in the m positioning devices;
wherein m is a positive integer greater than or equal to 1; and n is a positive integer greater than or equal to 1.
6. The method of claim 2, wherein the directional positioning information comprises directional encoded information, the directional encoded information comprising first encoded information and second encoded information;
wherein the first encoded information is different from the second encoded information.
7. The method of claim 6, wherein the operational direction information comprises first direction information and second direction information; the method further comprises the following steps:
the first coding information and the second coding information correspond to the first direction information according to a first preset condition;
and corresponding the first coding information, the second coding information and the second direction information according to a second preset condition to obtain the first corresponding relation.
8. The method of claim 3, wherein the range positioning information comprises range encoding information, the method further comprising:
determining a first encoding bit number of the mileage encoding information;
determining a first quantity of the positioning encoding information based on the first encoding number.
9. The method of claim 8, wherein the determining the positioning information corresponding to each of the at least one group of positioning components comprises:
sequencing the first quantity of positioning coding information to obtain a first sequencing result;
and determining the positioning information corresponding to each group of positioning components based on the first sequencing result.
10. The method according to claim 3, wherein the calibrating the second corresponding relationship between the mileage positioning information and the mileage information comprises:
sequencing the mileage information to obtain a second sequencing result;
and determining the mileage information corresponding to the mileage positioning information according to the second sorting result to obtain the second corresponding relation.
11. A positioning method is characterized in that the method is applied to magnetic levitation equipment and comprises the following steps:
acquiring positioning information corresponding to the magnetic suspension equipment passing through a first positioning assembly on a travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
searching a preset database according to the positioning information corresponding to the first positioning component to obtain the running direction and/or mileage information corresponding to the positioning information;
the preset database stores the corresponding relationship between the positioning information corresponding to each positioning component in at least one group of positioning components deployed on the driving route and the running direction and/or mileage information, and the corresponding relationship is calibrated based on the method of any one of claims 1 to 10.
12. The method of claim 11, wherein the first information comprises travel direction information; the positioning information comprises directional positioning information, the method further comprising:
acquiring direction positioning information corresponding to the magnetic suspension equipment passing through a first positioning assembly on a travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
searching a first preset database according to the direction positioning information corresponding to the first positioning component to obtain running direction information corresponding to the positioning information;
the first preset database stores a first corresponding relation between the direction positioning information corresponding to each positioning assembly in at least one group of positioning assemblies deployed on the driving route and the running direction information, and the first corresponding relation is obtained by calibration based on the method of any one of claims 1 to 10.
13. The method of claim 11, wherein the first information comprises mileage information; the positioning information comprises mileage positioning information, the method further comprising:
acquiring mileage positioning information corresponding to the magnetic suspension equipment passing through a first positioning component on a running line; the first positioning assembly is any one of the at least one group of positioning assemblies;
searching a second preset database according to the mileage positioning information corresponding to the first positioning component to obtain mileage information corresponding to the positioning information;
the second preset database stores a second corresponding relationship between mileage positioning information and mileage information corresponding to each positioning component in at least one group of positioning components deployed on the driving route, and the second corresponding relationship is calibrated based on the method of any one of claims 1 to 10.
14. A calibration device, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring first information related to a running line of the magnetic suspension equipment and at least one group of positioning components deployed on the running line;
the first determining module is used for determining the positioning information corresponding to each group of positioning components in the at least one group of positioning components;
the first calibration module is used for calibrating the corresponding relation between the positioning information and the first information; the corresponding relation is used for positioning the running direction and/or mileage of the magnetic suspension equipment on the running route.
15. A positioning device, comprising:
the second acquisition module is used for acquiring positioning information corresponding to the magnetic levitation equipment passing through the first positioning assembly on the travelling line; the first positioning assembly is any one of the at least one group of positioning assemblies;
the first searching module is used for searching a preset database according to the positioning information corresponding to the first positioning module to obtain the running direction and/or mileage information corresponding to the positioning information;
the preset database stores the corresponding relationship between the positioning information corresponding to each positioning component in at least one group of positioning components deployed on the driving route and the running direction and/or mileage information, and the corresponding relationship is calibrated based on the method of any one of claims 1 to 10.
16. An electronic device comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor, when executing the program, implements the calibration method of any one of claims 1 to 10 or implements the positioning method of claims 11-13.
17. A storage medium storing executable instructions which, when executed by at least one processor, implement the calibration method of any one of claims 1 to 10 or implement the positioning method of claims 11-13.
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Application publication date: 20221018 |